RGB-D based 6-DoF Grasping: Fusing RGB with depth in a completion setup [1]} is used to deal with extreme situations and photometric challenging objects. ClearGrasp [2]} masks out the transparent objects in the scene, and uses estimated normals and edges to reconstruct missing depth. TransCG [3]} collects depth ground truth using a 3D scanner and IR system, which is used to supervise the network taking fused features of inaccurate depth and RGB image as input. The improved performance lays the fact that RGB can alleviate the depth-missing problem. Our work takes the idea to a further level, which we explore the ability of RGB on 6-DoF grasping without bringing in the depth map.
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